CN108423082B - Walking robot straight trip, turning method and its serial-parallel mirror robot leg configuration - Google Patents

Walking robot straight trip, turning method and its serial-parallel mirror robot leg configuration Download PDF

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Publication number
CN108423082B
CN108423082B CN201810068191.3A CN201810068191A CN108423082B CN 108423082 B CN108423082 B CN 108423082B CN 201810068191 A CN201810068191 A CN 201810068191A CN 108423082 B CN108423082 B CN 108423082B
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China
Prior art keywords
robot leg
leg configuration
robot
configuration
revolute pair
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CN201810068191.3A
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Chinese (zh)
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CN108423082A (en
Inventor
马广英
刘润晨
韩硕
陈原
高军
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山东大学
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Priority to CN201810068191.3A priority Critical patent/CN108423082B/en
Publication of CN108423082A publication Critical patent/CN108423082A/en
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Publication of CN108423082B publication Critical patent/CN108423082B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for

Abstract

The invention discloses a kind of serial-parallel mirror robot leg configuration, walking robot and its movement techniques, belong to robot field.The serial-parallel mirror robot leg configuration includes silent flatform, moving platform and serial-parallel mirror mechanism, and moving platform includes leg and foot, is connected between leg and foot using the first revolute pair, is provided with the first rotary driver in the first revolute pair;Serial-parallel mirror mechanism includes active drive branch and two driven driving branches;Active drive branch includes being sequentially connected the second rotary driver, first connecting rod and second connecting rod using revolute pair, second rotary driver is vertically arranged at one end of silent flatform, is respectively arranged with third rotary driver and the 4th rotary driver in the second revolute pair and third revolute pair.The basic functions such as space of the present invention is big, rotary inertia is small, leg mechanism flexible motion, the advance, turning, avoidance that do not interfere, and can be realized robot are suitble to underwater operation.

Description

Walking robot straight trip, turning method and its serial-parallel mirror robot leg configuration

Technical field

The present invention relates to robotic technology field, a kind of serial-parallel mirror robot leg configuration, walking robot are particularly related to People and its movement technique.

Background technique

In today of high speed development, as blue territory, exploring ocean becomes current important task, therefore various for ocean Underwater robot comes into being, mainly based on unmanned remotely controlled submersible vehicle (ROV) and cableless underwater robot (AUV), but this Two kinds of underwater robots are merely able under weak ocean current environment, and need the support of hawser and lash ship.When by compared with tide race When effect, controlling both robots will be become difficult.

Mobile robot includes wheeled robot, caterpillar robot, legged type robot and compound machine people etc..It is wheeled Robot is suitble to execute task in flat landform, and can carry out high-speed mobile, but unstable easy skidding of advancing, and And be not suitable for working on complicated landform.Caterpillar type robot is suitble to execute task in more soft landform, The contact area on crawler belt and ground is big, and stationarity is high, but is not suitable for executing task in complicated landform.Legged type robot It is good at and is moved in the landform of various complexity, and its obstacle climbing ability is stronger, but movement velocity is low, unbalance, Easily rollover.Therefore, in underwater complex environment, legged type robot is preferentially selected.

The leg structure of legged type robot can be divided into serial manipulator, parallel robot and series-parallel robot.Serial machine People's structure is simple, easy to control, but rigidity is small.Parallel robot rigidity is big, and payload-weight ratio is big, can high-speed motion, still Structure is complicated, easily interferes.Serial-parallel mirror robot had not only had the advantages that serial manipulator working space was big but also has parallel manipulator The high feature of people's bearing capacity, but existing serial-parallel mirror robot all exists that working space is small, rotary inertia is big, driver Position the problems such as interfering, be not suitable for underwater use.It is therefore desirable to provide a kind of new serial-parallel mirror robot Leg configuration, walking robot and its movement technique, to solve the above problems.

Summary of the invention

That the technical problem to be solved in the present invention is to provide a kind of spaces is big, rotary inertia is small, leg mechanism is flexibly transported The basic functions such as dynamic, the advance, turning, avoidance that do not interfere, and can be realized robot, are suitble to the string of underwater operation simultaneously Series-parallel robot leg configuration, walking robot and its movement technique.

In order to solve the above technical problems, present invention offer technical solution is as follows:

A kind of serial-parallel mirror robot leg configuration, including silent flatform, moving platform and it is set to the silent flatform and dynamic flat Serial-parallel mirror mechanism between platform, in which:

The moving platform includes leg and foot, is connected between the leg and foot using the first revolute pair, and described the The first rotary driver is provided in one revolute pair, the axis of first revolute pair and the plane where the silent flatform are put down Row;

The serial-parallel mirror mechanism includes that active drive branch and two arrange relative to the active drive unbranched symmetric And it is located at the driven driving branch below the active drive branch;

The active drive branch includes the second rotary driver, first connecting rod and second connecting rod, and second rotation is driven Dynamic device is vertically arranged at one end of the silent flatform, and one end of the first connecting rod is connected to described second by the second revolute pair On rotary driver, the other end of the first connecting rod is connected to one end of the second connecting rod by third revolute pair, described The other end of second connecting rod is connected on the leg by the 4th revolute pair, is divided in second revolute pair and third revolute pair It is not provided with third rotary driver and the 4th rotary driver;

The driven driving branch includes U secondary, third connecting rod and fourth link, and one end of the third connecting rod passes through described U pair is connected on the silent flatform, and the other end of the third connecting rod is connected to the fourth link by the 5th revolute pair The other end of one end, the fourth link is connected on the leg by the 6th revolute pair.

Further, the axis of second revolute pair, third revolute pair and the 4th revolute pair be parallel to each other and with it is described The rotation axis of second rotary driver is vertical, and the axis of the 5th revolute pair and the 6th revolute pair is rotated with described second The rotation axis of driver is parallel.

Further, the silent flatform includes top bottom-disc and low bottom-disc arranged in parallel, the top bottom-disc and bottom Shell is provided between disk, second rotary driver is set between the top bottom-disc and low bottom-disc and is located at the upper bottom One end of disk and low bottom-disc.

Further, the leg includes elliptical platform and is set to first of the elliptical platform lower end surface Leg, the 4th revolute pair and the 6th revolute pair are set on the elliptical platform, and the foot includes using described first The second supporting leg that rotary driver is connect with first leg and the ship type platform for being set to second supporting leg lower end.

Further, first rotary driver, the second rotary driver, third rotary driver and the 4th rotation are driven Dynamic device is all made of servo motor.

A kind of walking robot, including four any of the above-described serial-parallel mirror robot leg configurations, described four Serial-parallel mirror robot leg configuration is followed successively by the first robot leg configuration, the second robot leg configuration, third robot Leg configuration and the 4th robot leg configuration and the surrounding for being uniformly arranged on the silent flatform form four feet walking robot.

The straight trip method of above-mentioned walking robot, comprising:

Step 1: the first robot leg configuration and third robot leg configuration lift:

The foot of the second robot leg configuration and the 4th robot leg configuration is supporting point, keeps original position not Dynamic, the active drive branch of the first robot leg configuration and third robot leg configuration respectively drives the first robot The serial-parallel mirror mechanism of leg configuration and the serial-parallel mirror mechanism of third robot leg configuration are rotated up certain angle, by It is certain that this drives the moving platform of the first robot leg configuration and the moving platform of the third robot leg configuration to rise Height, complete the lift motion of the first robot leg configuration and third robot leg configuration, wherein the third Rotary driver drives first connecting rod to be rotated up certain angle around second revolute pair, the 4th rotary driver driving the Two connecting rods are rotated up certain angle around the third revolute pair;

Step 2: the rotation of the first robot leg configuration and third robot leg configuration:

The second rotary driver driving active drive branch of the first robot leg configuration is around second rotation The axis of driver rotates counterclockwise certain angle, while the second rotary driver of third robot leg configuration drives master Dynamic driving branch rotates certain angle around the axis both clockwise of second rot, thus completes first robot leg The unitary rotation of portion's configuration and third robot leg configuration;

Step 3: the first robot leg configuration and third robot leg configuration are fallen:

The active drive branch of the first robot leg configuration and third robot leg configuration respectively drives first The serial-parallel mirror mechanism of robot leg configuration and the serial-parallel mirror mechanism of third robot leg configuration rotate down certain Thus angle drives under the moving platform of the first robot leg configuration and the moving platform of the third robot leg configuration Certain height is dropped, completes the landing campaign of the first robot leg configuration and third robot leg configuration, wherein institute It states third rotary driver driving first connecting rod and rotates down certain angle, the 4th rotary driver around second revolute pair Second connecting rod is driven to rotate down certain angle around the third revolute pair;

Step 4: the second robot leg configuration and the 4th robot leg configuration lift:

The foot of the first robot leg configuration and third robot leg robot modeling is supporting point, keeps former Position is motionless, and the active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives second The serial-parallel mirror mechanism of robot leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration are rotated up certain Thus angle drives on the moving platform of the second robot leg configuration and the moving platform of the 4th robot leg configuration Certain height is risen, completes the lift motion of the second robot leg configuration and the 4th robot leg configuration, wherein institute It states third rotary driver driving first connecting rod and is rotated up certain angle, the 4th rotary driver around second revolute pair Second connecting rod is driven to be rotated up certain angle around the third revolute pair;

Step 5: the rotation of the second robot leg configuration and the 4th robot leg configuration:

The second rotary driver driving active drive branch of the second robot leg configuration is around second rotation The axis both clockwise of driver rotates certain angle, while the second rotary driver of the 4th robot leg configuration drives master Dynamic driving branch rotates counterclockwise certain angle around the axis of second rot, thus completes second robot leg The unitary rotation of portion's configuration and the 4th robot leg configuration;

Step 6: the second robot leg configuration and the 4th robot leg configuration are fallen:

The active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives second The serial-parallel mirror mechanism of robot leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration rotate down certain Thus angle drives under the moving platform of the second robot leg configuration and the moving platform of the 4th robot leg configuration Certain height is dropped, completes the landing campaign of the second robot leg configuration and the 4th robot leg configuration, wherein institute It states third rotary driver driving first connecting rod and rotates down certain angle, the 4th rotary driver around second revolute pair Second connecting rod is driven to rotate down certain angle around the third revolute pair, to complete the straight of the walking robot entirety Action is made;

Step 7: going to the step 1, be ready to carry out next straight trip movement.

The turning method of above-mentioned walking robot, comprising:

Step 1: the first robot leg configuration and third robot leg configuration lift:

The foot of the second robot leg configuration and the 4th robot leg configuration is supporting point, keeps original position not Dynamic, the active drive branch of the first robot leg configuration and third robot leg configuration respectively drives the first robot The serial-parallel mirror mechanism of leg configuration and the serial-parallel mirror mechanism of third robot leg configuration are rotated up certain angle, by It is certain that this drives the moving platform of the first robot leg configuration and the moving platform of the third robot leg configuration to rise Height, complete the lift motion of the first robot leg configuration and third robot leg configuration, wherein the third Rotary driver drives first connecting rod to be rotated up certain angle around second revolute pair, the 4th rotary driver driving the Two connecting rods are rotated up certain angle around the third revolute pair;

Step 2: the rotation of the first robot leg configuration or third robot leg configuration:

When the walking robot turns left, the third robot leg Formation keeping is motionless, first machine The second rotary driver driving active drive branch of people leg configuration turns counterclockwise around the axis of second rotary driver Move certain angle;

When the walking robot is turned right, the first robot leg Formation keeping is motionless, the third machine The second rotary driver driving active drive branch of people leg configuration turns around the axis both clockwise of second rotary driver Move certain angle.

Step 3: the first robot leg configuration and third robot leg configuration are fallen:

The active drive branch of the first robot leg configuration and third robot leg configuration respectively drives first The serial-parallel mirror mechanism of robot leg configuration and the serial-parallel mirror mechanism of third robot leg configuration rotate down certain Thus angle drives under the moving platform of the first robot leg configuration and the moving platform of the third robot leg configuration Certain height is dropped, completes the landing campaign of the first robot leg configuration and third robot leg configuration, wherein institute It states third rotary driver driving first connecting rod and rotates down certain angle, the 4th rotary driver around second revolute pair Second connecting rod is driven to rotate down certain angle around the third revolute pair;

Step 4: the second robot leg configuration and the 4th robot leg configuration lift:

The foot of the first robot leg configuration and third robot leg robot modeling is supporting point, keeps former Position is motionless, and the active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives second The serial-parallel mirror mechanism of robot leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration are rotated up certain Thus angle drives on the moving platform of the second robot leg configuration and the moving platform of the 4th robot leg configuration Certain height is risen, completes the lift motion of the second robot leg configuration and the 4th robot leg configuration, wherein institute It states third rotary driver driving first connecting rod and is rotated up certain angle, the 4th rotary driver around second revolute pair Second connecting rod is driven to be rotated up certain angle around the third revolute pair;

Step 5: the rotation of the second robot leg configuration or the 4th robot leg configuration:

When the walking robot turns left, the 4th robot leg Formation keeping is motionless, second machine The second rotary driver driving active drive branch of people leg configuration turns counterclockwise around the axis of second rotary driver Move certain angle;

When the walking robot is turned right, the second robot leg Formation keeping is motionless, the 4th machine The second rotary driver driving active drive branch of people leg configuration turns counterclockwise around the axis of second rotary driver Move certain angle;

Step 6: the second robot leg configuration and the 4th robot leg configuration are fallen:

The active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives second The serial-parallel mirror mechanism of robot leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration rotate down certain Thus angle drives under the moving platform of the second robot leg configuration and the moving platform of the 4th robot leg configuration Certain height is dropped, completes the landing campaign of the second robot leg configuration and the 4th robot leg configuration, wherein institute It states third rotary driver driving first connecting rod and rotates down certain angle, the 4th rotary driver around second revolute pair Second connecting rod is driven to rotate down certain angle around the third revolute pair.

The invention has the following advantages:

1, serial-parallel mirror robot leg configuration of the invention is by using active drive branch and two driven driving branch Chain is in parallel, and machine can be completed only with the structure of revolute pair, U pair and connecting rod in active drive branch and driven driving branch The elongation and shortening of device people leg configuration, robot leg configuration realize that robot leg configuration exists by four rotary drivers X, the rotational freedom in tri- directions Y, Z and the one-movement-freedom-degree of Z-direction totally four freedom degrees, can be fully achieved leg mechanism The function of flexible motion, motion control is simple, and the functions such as the straight trip, turning and avoidance of walking robot may be implemented.

2, in serial-parallel mirror robot leg configuration of the invention, between active drive branch and two driven driving branches Triangular structure is formed in spatial dimension, it is rationally distributed, thereby increase the stability of robot leg configuration, and each It is not interfered between chain.

3, in walking robot of the invention, four serial-parallel mirror robot leg configurations are evenly arranged in the four of silent flatform Week, and four the second rotary drivers are equably vertically arranged in the surrounding of silent flatform, so that single serial-parallel mirror robot The rotational angle maximum about the z axis of leg configuration can reach 90 °, increase the space and angle of rotation of walking robot entirety Degree effectively realizes the functions such as straight trip, turning and the avoidance of walking robot.

4, the leg driver concentrated setting of walking robot of the invention is conducive to walking machine on active drive branch The protection of device human agent part, can be improved the reliability of walking robot underwater operation.

To sum up, compared with prior art, serial-parallel mirror robot leg configuration, walking robot and its movement of the invention Method, structure is simple, movement is flexible, easy to control simple, can adapt to the operating condition of underwater topography complexity, bad environments, Walking robot may be implemented more flexibly to move, turn and the basic functions such as avoidance.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of serial-parallel mirror robot leg configuration of the invention;

Fig. 2 is the structural schematic diagram that foot lifts in serial-parallel mirror robot leg configuration of the invention;

Fig. 3 is the structural schematic diagram of the serial-parallel mirror mechanism of serial-parallel mirror robot leg configuration of the invention;

Fig. 4 is the structural schematic diagram of walking robot of the invention.

Specific embodiment

To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool Body embodiment is described in detail.

On the one hand, the present invention provides a kind of serial-parallel mirror robot leg configuration, as shown in Figs 1-4, including silent flatform 1, Moving platform 3 and the serial-parallel mirror mechanism 2 being set between silent flatform 1 and moving platform 3, in which:

Moving platform 3 includes leg 3-1 and foot 3-4, is connected between leg 3-1 and foot 3-4 using the first revolute pair 3-2 It connects, 1 place of axis and silent flatform of the first rotary driver 3-3, the first revolute pair 3-2 is provided on the first revolute pair 3-2 Plane is parallel;

Serial-parallel mirror mechanism 2 include active drive branch 2-1 and two be arranged symmetrically relative to active drive branch 2-1 and Driven driving branch 2-2,2-3 below active drive branch 2-1;

Active drive branch 2-1 includes the second rotary driver 2-1-1, first connecting rod 2-1-4 and second connecting rod 2-1-7, Second rotary driver 2-1-1 is vertically arranged at one end of silent flatform 1, and one end of first connecting rod 2-1-4 passes through the second revolute pair 2-1-2 is connected on the second rotary driver 2-1-1, and the other end of first connecting rod 2-1-4 passes through third revolute pair 2-1-5 connection In one end of second connecting rod 2-1-7, the other end of second connecting rod 2-1-7 is connected to leg 3-1 by the 4th revolute pair 2-1-8 On, the rotation of third rotary driver 2-1-3 and the 4th is respectively arranged on the second revolute pair 2-1-2 and third revolute pair 2-1-5 Driver 2-1-6;

Driven driving branch 2-2 and 2-3 include U secondary 2-2-1, third connecting rod 2-2-2 and fourth link 2-2-4, third One end of connecting rod 2-2-2 is connected on silent flatform 1 by U secondary 2-2-1, and the other end of third connecting rod 2-2-2 passes through the 5th rotation Secondary 2-2-3 is connected to one end of fourth link 2-2-4, and the other end of fourth link 2-2-4 passes through the 6th revolute pair 2-2-5 connection On the 3-1 of leg.

Further, the axis of the second revolute pair 2-1-2, third revolute pair 2-1-5 and the 4th revolute pair 2-1-8 are mutually flat Row and, the axis of fiveth revolute pair 2-2-3 and sixth revolute pair 2-2-5 vertical with the rotation axis of the second rotary driver 2-1-1 Line is parallel with the rotation axis of the second rotary driver 2-1-1.

Serial-parallel mirror robot leg configuration of the invention uses active drive branch 2-1 and two driven driving branch 2- 2,2-3 is connected in parallel between silent flatform 1 and moving platform 3, and active drive branch 2-1 and driven driving branch 2-2,2-3 are respectively adopted Revolute pair, U are secondary and connecting rod is connected in series mode and constitutes serial-parallel mirror mechanism 2, active drive branch 2-1 and driven driving branch 2- 2,2-3 forms triangular structure in spatial dimension, rationally distributed, and only with revolute pair, the connection type of U pair and connecting rod The elongation and shortening of robot leg configuration can be completed, robot leg configuration realizes robot by four rotary drivers Leg configuration can reach totally completely in the rotational freedom in tri- directions X, Y, Z and one-movement-freedom-degree four freedom degrees of Z-direction To the function of leg mechanism flexible motion, motion control is simple, and the function such as the straight trip, turning and avoidance of walking robot may be implemented Energy.

Wherein, the first rotary driver 3-3 can drive foot 3-4 opposed legs 3-1 to lift and fall, larger to avoid Barrier;Second rotary driver 2-2-1 drives serial-parallel mirror mechanism 2 and moving platform 3 around the second rotary driver 2-2-1's Axis rotation, to realize the straight trip and turning of robot leg configuration;Third rotary driver 2-1-3 and the 4th rotary driver 2-1-6 can drive lifting and falling for serial-parallel mirror mechanism 2 and moving platform 3, with realize robot leg configuration lift and It falls.

In serial-parallel mirror robot leg configuration of the invention, between active drive branch and two driven driving branches Triangular structure is formed in spatial dimension, it is rationally distributed, thereby increase the stability of robot leg configuration, and each branch Between do not interfere.

The driver concentrated setting of serial-parallel mirror robot leg structure of the invention is conducive to walk on active drive branch The protection of row robot body part, can be improved the reliability of walking robot underwater operation.

To sum up, compared with prior art, serial-parallel mirror robot leg configuration of the invention, structure is simple, movement is flexible, It is easy to control simple, can adapt to that underwater topography is complicated, operating conditions of bad environments so that walking robot may be implemented compared with Flexibly to move, turning and the basic functions such as avoidance.

Further, silent flatform 1 preferably includes top bottom-disc 1-1 and low bottom-disc 1-3 arranged in parallel, top bottom-disc 1-1 Be provided with shell 1-2 between low bottom-disc 1-3, the second rotary driver 2-1-1 be set to top bottom-disc 1-1 and low bottom-disc 1-3 it Between and be located at top bottom-disc 1-1 and low bottom-disc 1-2 one end.It both can protect walking robot between top bottom-disc 1-1 and low bottom-disc 1-3 Shell 1-2 can be set again and have opening up for sophisticated functions to load various detectings, repair and speedily carry out rescue work etc. for the control system tongue of people Equipment is opened up, convenient for the implementation and expansion of the underwater various activities of walking robot.And this structure can also give robot The movement of leg configuration reserves certain rotation space, increases the left-right rotation angle of robot leg configuration, the second rotation The angle that driver 2-1-1 driving robot leg configuration turns about the Z axis can achieve 90 °.

In the present invention, since the 4th revolute pair 2-1-8 and the 6th revolute pair 2-2-5 is connected on the 3-1 of leg, and leg When 3-1 is moved under the driving of serial-parallel mirror mechanism 2, the upper surface of leg 3-1 needs to keep horizontal with ground always.Therefore, Material is reduced to the greatest extent under the premise of guaranteeing that space of the leg 3-1 under the drive of serial-parallel mirror mechanism 2 is as big as possible It uses, the frame mode that leg 3-1 preferably uses elliptical platform and supporting leg to combine, specifically, leg 3-1 may include ellipse Circular platform 3-1-1 and the first leg 3-1-2 for being set to the lower end surface elliptical platform 3-1-1, the 4th revolute pair 2-1-8 and the Six revolute pair 2-2-5 are set on elliptical platform 3-1-1.

In addition, robot leg configuration landing when, in order to reduce the impact that foot 3-4 is subject to, in order to smoothly fall Ground, foot 3-4 are preferably included the second supporting leg 3-4-1 being connect using the first rotary driver 3-3 with first leg 3-1-2 and set It is placed in the ship type platform 3-4-2 of the second lower end supporting leg 3-4-1.Foot 3-4 uses the second supporting leg 3-4-1 and ship type platform 3-4-2 The frame mode combined, when robot leg configuration is walked on the ground of relatively flat, the rectangle of ship type platform 3-4-2 Rubbing surface can provide frictional force for walking robot walking;When the climbing of robot leg configuration or cross small obstacle When, the first rotary driver 3-3 driving foot 3-4 rotates certain angle, makes the second supporting leg 3-4-1 and ship type platform 3-4-2 It is tightly attached in slope or small obstacle when the rectangle groove landing of formation, while preventing robot leg configuration from slipping Impact can be slowed down, so that foot 3-4 steadily lands.

Further, the first rotary driver 3-3, the second rotary driver 2-1-1, third rotary driver 2-1-3 and 4th rotary driver 2-1-6 preferably uses servo motor.

On the other hand, the present invention provides a kind of walking robot, including four any of the above-described serial-parallel mirror robot legs Portion's configuration, four serial-parallel mirror robot leg configurations are followed successively by the first robot leg configuration 10, the second robot leg structure Type 20, third robot leg configuration 30 and the 4th robot leg configuration 40 and the surrounding for being uniformly arranged on silent flatform 1 are formed Four feet walking robot.

In walking robot of the invention, the first robot leg configuration 10, the second robot leg configuration 20, third machine Device people leg configuration 30 and the 4th robot leg configuration 40 are evenly arranged in the surrounding of silent flatform 1, and four second rotations Driver is equably vertically arranged in the surrounding of silent flatform 1, so that turn about the z axis of single serial-parallel mirror robot leg configuration Dynamic angle maximum can reach 90 °, increase the space and rotational angle of walking robot entirety, effectively realization walking robot The functions such as straight trip, turning and the avoidance of people.

The driver concentrated setting of walking robot of the invention is conducive to walking robot master on active drive branch The protection of body portion can be improved the reliability of walking robot underwater operation.

In addition, in order to make walking robot preferably adapt to underwater environment, walking robot should preferably use waterproof material It is made, such as waterproof acrylic board, aluminium material.

In another aspect, the present invention also provides the movement technique of above-mentioned walking robot, including straight trip method, turning method And barrier-avoiding method, wherein the straight trip method of above-mentioned walking robot preferably uses diagonal gait form to carry out straight trip campaign, packet It includes:

Step 1: the first robot leg configuration 10 and third robot leg configuration 30 lift:

The foot of second robot leg configuration 20 and the 4th robot leg configuration 40 is supporting point, keeps original position not Dynamic, the active drive branch of the first robot leg configuration 10 and third robot leg configuration 30 respectively drives the first robot The serial-parallel mirror mechanism of leg configuration 10 and the serial-parallel mirror mechanism of third robot leg configuration 30 are rotated up certain angle Degree, the moving platform of the moving platform and third robot leg configuration 30 that thus drive the first robot leg configuration 10 rise certain Height, complete the first robot leg configuration 10 and third robot leg configuration 30 lift motion, wherein third rotation Driver 2-1-3 drives first connecting rod 2-1-4 to be rotated up certain angle, the 4th rotate driving around the second revolute pair 2-1-2 Device 2-1-6 drives second connecting rod 2-1-7 to be rotated up certain angle around third revolute pair 2-1-5;

Step 2: the rotation of the first robot leg configuration 10 and third robot leg configuration 30:

The second rotary driver 2-1-1 driving active drive branch 2-1 of first robot leg configuration 10 is around second turn The axis of dynamic driver 2-1-3 rotates counterclockwise certain angle, while the second rotation of third robot leg configuration 30 is driven Dynamic device driving active drive branch rotates certain angle around the axis both clockwise of the second rot, thus completes the first robot The unitary rotation of leg configuration 10 and third robot leg configuration 30;

Step 3: the first robot leg configuration 10 and third robot leg configuration 30 are fallen:

The active drive branch of first robot leg configuration 10 and third robot leg configuration 30 respectively drives first The serial-parallel mirror mechanism of 30 type of serial-parallel mirror mechanism and third robot leg structure of robot leg configuration 10 rotates down one Thus fixed angle drives under the moving platform of the first robot leg configuration 10 and the moving platform of third robot leg configuration 30 Certain height is dropped, the landing campaign of the first robot leg configuration 10 and third robot leg configuration 30 is completed, wherein the Three rotary drivers driving first connecting rod rotates down certain angle, the 4th rotary driver driving second around the second revolute pair Connecting rod rotates down certain angle around third revolute pair;

Step 4: the second robot leg configuration 20 and the 4th robot leg configuration 40 lift:

The foot of first robot leg configuration 10 and third robot leg robot modeling 30 is supporting point, keeps former Position is motionless, and the active drive branch of the second robot leg configuration 20 and the 4th robot leg configuration 40 respectively drives second The serial-parallel mirror mechanism of robot leg configuration 20 and the serial-parallel mirror mechanism of the 4th robot leg configuration 40 are rotated up one Thus fixed angle drives on the moving platform of the second robot leg configuration 20 and the moving platform of the 4th robot leg configuration 40 Certain height is risen, the lift motion of the second robot leg configuration 20 and the 4th robot leg configuration 40 is completed, wherein the Three rotary drivers driving first connecting rod is rotated up certain angle, the 4th rotary driver driving second around the second revolute pair Connecting rod is rotated up certain angle around third revolute pair;

Step 5: the rotation of the second robot leg configuration 20 and the 4th robot leg configuration 40:

The second rotary driver driving active drive branch of second robot leg configuration 20 is around the second rotary driver Axis both clockwise rotate certain angle, while the second rotary driver driving of the 4th robot leg configuration 40 is actively driven Dynamic branch rotates counterclockwise certain angle around the axis of the second rot, thus completes the second robot leg configuration 20 and the The unitary rotation of four robot leg configurations 40;

Step 6: the second robot leg configuration 20 and the 4th robot leg configuration 40 are fallen:

The active drive branch of second robot leg configuration 20 and the 4th robot leg configuration 40 respectively drives second The serial-parallel mirror mechanism of robot leg configuration 20 and the serial-parallel mirror mechanism of the 4th robot leg configuration 40 rotate down one Thus fixed angle drives under the moving platform of the second robot leg configuration 20 and the moving platform of the 4th robot leg configuration 40 Certain height is dropped, the landing campaign of the second robot leg configuration 20 and the 4th robot leg configuration 40 is completed, wherein the Three rotary drivers driving first connecting rod rotates down certain angle, the 4th rotary driver driving second around the second revolute pair Connecting rod rotates down certain angle around third revolute pair, to complete the straight trip movement of walking robot entirety;

Step 7: going to step 1, be ready to carry out next straight trip movement.

The turning method of above-mentioned walking robot may include:

Step 1: the first robot leg configuration 10 and third robot leg configuration 30 lift:

The foot of second robot leg configuration 20 and the 4th robot leg configuration 40 is supporting point, keeps original position not Dynamic, the active drive branch of the first robot leg configuration 10 and third robot leg configuration 30 respectively drives the first robot The serial-parallel mirror mechanism of leg configuration 10 and the serial-parallel mirror mechanism of third robot leg configuration 30 are rotated up certain angle Degree, the moving platform of the moving platform and third robot leg configuration 30 that thus drive the first robot leg configuration 10 rise certain Height, complete the first robot leg configuration 10 and third robot leg configuration 30 lift motion, wherein third rotation Driver driving first connecting rod is rotated up certain angle around the second revolute pair, the 4th rotary driver drive second connecting rod around Third revolute pair is rotated up certain angle;

Step 2: the rotation of the first robot leg configuration 10 or third robot leg configuration 30:

When walking robot turns left, third robot leg configuration 30 is remained stationary, the first robot leg configuration 10 the second rotary driver driving active drive branch rotates counterclockwise certain angle around the axis of the second rotary driver;

When walking robot is turned right, the first robot leg configuration 10 is remained stationary, third robot leg configuration 30 the second rotary driver driving active drive branch rotates certain angle around the axis both clockwise of the second rotary driver.

Step 3: the first robot leg configuration 10 and third robot leg configuration 30 are fallen:

The active drive branch of first robot leg configuration 10 and third robot leg configuration 30 respectively drives first The serial-parallel mirror mechanism of robot leg configuration 10 and the serial-parallel mirror mechanism of third robot leg configuration 30 rotate down one Thus fixed angle drives under the moving platform of the first robot leg configuration 10 and the moving platform of third robot leg configuration 30 Certain height is dropped, the landing campaign of the first robot leg configuration 10 and third robot leg configuration 30 is completed, wherein the Three rotary drivers driving first connecting rod rotates down certain angle, the 4th rotary driver driving second around the second revolute pair Connecting rod rotates down certain angle around third revolute pair;

Step 4: the second robot leg configuration 20 and the 4th robot leg configuration 40 lift:

The foot of first robot leg configuration 10 and third robot leg robot modeling 30 is supporting point, keeps former Position is motionless, and the active drive branch of the second robot leg configuration 20 and the 4th robot leg configuration 40 respectively drives second The serial-parallel mirror mechanism of robot leg configuration 20 and the serial-parallel mirror mechanism of the 4th robot leg configuration 40 are rotated up one Thus fixed angle drives on the moving platform of the second robot leg configuration 20 and the moving platform of the 4th robot leg configuration 40 Certain height is risen, the lift motion of the second robot leg configuration 20 and the 4th robot leg configuration 40 is completed, wherein the Three rotary drivers driving first connecting rod is rotated up certain angle, the 4th rotary driver driving second around the second revolute pair Connecting rod is rotated up certain angle around third revolute pair;

Step 5: the rotation of the second robot leg configuration 20 or the 4th robot leg configuration 40:

When walking robot turns left, the 4th robot leg configuration 40 is remained stationary, the second robot leg configuration 20 the second rotary driver driving active drive branch rotates counterclockwise certain angle around the axis of the second rotary driver;

When walking robot is turned right, the second robot leg configuration 20 is remained stationary, the 4th robot leg configuration 40 the second rotary driver driving active drive branch rotates counterclockwise certain angle around the axis of the second rotary driver;

Step 6: the second robot leg configuration 20 and the 4th robot leg configuration 40 are fallen:

The active drive branch of second robot leg configuration 20 and the 4th robot leg configuration 40 respectively drives second The serial-parallel mirror mechanism of robot leg configuration 20 and the serial-parallel mirror mechanism of the 4th robot leg configuration 40 rotate down one Thus fixed angle drives under the moving platform of the second robot leg configuration 20 and the moving platform of the 4th robot leg configuration 40 Certain height is dropped, the landing campaign of the second robot leg configuration 20 and the 4th robot leg configuration 40 is completed, wherein the Three rotary drivers driving first connecting rod rotates down certain angle, the 4th rotary driver driving second around the second revolute pair Connecting rod rotates down certain angle around third revolute pair.

During above-mentioned walking robot is in straight trip and turning, if encounter lesser barrier, can directly it pass through The lift motion of robot leg configuration carries out avoidance, and when encounter biggish barrier to lift leg movement can not avoid when, It can control the first rotary driver 3-3 driving foot 3-4 and rotate corresponding angle around the first revolute pair 3-2, crossed with reaching The effect of barrier.

The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (6)

1. a kind of straight trip method of walking robot, which is characterized in that
The walking robot includes four serial-parallel mirror robot leg configurations, the serial-parallel mirror robot leg configuration packet Include silent flatform, moving platform and the serial-parallel mirror mechanism being set between the silent flatform and moving platform, four serial-parallel mirror machines People leg configuration is followed successively by the first robot leg configuration, the second robot leg configuration, third robot leg configuration and Four robot leg configurations and the surrounding for being uniformly arranged on the silent flatform form four feet walking robot;
The moving platform includes leg and foot, is connected between the leg and foot using the first revolute pair, described first turn It is provided with the first rotary driver in dynamic pair, the axis of first revolute pair is parallel with the plane where the silent flatform;
The serial-parallel mirror mechanism includes active drive branch and two relative to active drive unbranched symmetric arrangement and position Driven driving branch below the active drive branch;
The active drive branch includes the second rotary driver, first connecting rod and second connecting rod, second rotary driver It is vertically arranged at one end of the silent flatform, one end of the first connecting rod is connected to second rotation by the second revolute pair On driver, the other end of the first connecting rod is connected to one end of the second connecting rod by third revolute pair, and described second The other end of connecting rod is connected on the leg by the 4th revolute pair, is set respectively in second revolute pair and third revolute pair It is equipped with third rotary driver and the 4th rotary driver;
The driven driving branch includes that U secondary, third connecting rod and fourth link, one end of the third connecting rod pass through the U pair It is connected on the silent flatform, the other end of the third connecting rod is connected to the one of the fourth link by the 5th revolute pair End, the other end of the fourth link are connected on the leg by the 6th revolute pair;
The straight trip method includes:
Step 1: the first robot leg configuration and third robot leg configuration lift:
The foot of the second robot leg configuration and the 4th robot leg configuration is supporting point, keeps original position motionless, The active drive branch of the first robot leg configuration and third robot leg configuration respectively drives the first robot leg The serial-parallel mirror mechanism of portion's configuration and the serial-parallel mirror mechanism of third robot leg configuration are rotated up certain angle, thus The moving platform of the moving platform and the third robot leg configuration that drive the first robot leg configuration rises certain Highly, the lift motion of the first robot leg configuration and third robot leg configuration is completed, wherein the third turns Dynamic driver driving first connecting rod is rotated up certain angle, the 4th rotary driver driving second around second revolute pair Connecting rod is rotated up certain angle around the third revolute pair;
Step 2: the rotation of the first robot leg configuration and third robot leg configuration:
The second rotary driver driving active drive branch of the first robot leg configuration is around second rotate driving The axis of device rotates counterclockwise certain angle, while the second rotary driver driving of third robot leg configuration is actively driven Dynamic branch rotates certain angle around the axis both clockwise of second rot, thus completes the first robot leg structure The unitary rotation of type and third robot leg configuration;
Step 3: the first robot leg configuration and third robot leg configuration are fallen:
The active drive branch of the first robot leg configuration and third robot leg configuration respectively drives the first machine The serial-parallel mirror mechanism of people leg configuration and the serial-parallel mirror mechanism of third robot leg configuration rotate down certain angle, Thus the moving platform decline one of the moving platform and the third robot leg configuration of the first robot leg configuration is driven Fixed height completes the landing campaign of the first robot leg configuration and third robot leg configuration, wherein described the Three rotary drivers drive first connecting rod to rotate down certain angle, the driving of the 4th rotary driver around second revolute pair Second connecting rod rotates down certain angle around the third revolute pair;
Step 4: the second robot leg configuration and the 4th robot leg configuration lift:
The foot of the first robot leg configuration and third robot leg robot modeling is supporting point, keeps original position Motionless, the active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives the second machine The serial-parallel mirror mechanism of people leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration are rotated up certain angle, Thus the moving platform of the moving platform and the 4th robot leg configuration that drive the second robot leg configuration rises one Fixed height completes the lift motion of the second robot leg configuration and the 4th robot leg configuration, wherein described the Three rotary drivers drive first connecting rod to be rotated up certain angle, the driving of the 4th rotary driver around second revolute pair Second connecting rod is rotated up certain angle around the third revolute pair;
Step 5: the rotation of the second robot leg configuration and the 4th robot leg configuration:
The second rotary driver driving active drive branch of the second robot leg configuration is around second rotate driving The axis both clockwise of device rotates certain angle, while the second rotary driver driving of the 4th robot leg configuration is actively driven Dynamic branch rotates counterclockwise certain angle around the axis of second rot, thus completes the second robot leg structure The unitary rotation of type and the 4th robot leg configuration;
Step 6: the second robot leg configuration and the 4th robot leg configuration are fallen:
The active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives the second machine The serial-parallel mirror mechanism of people leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration rotate down certain angle, Thus the moving platform decline one of the moving platform and the 4th robot leg configuration of the second robot leg configuration is driven Fixed height completes the landing campaign of the second robot leg configuration and the 4th robot leg configuration, wherein described the Three rotary drivers drive first connecting rod to rotate down certain angle, the driving of the 4th rotary driver around second revolute pair Second connecting rod rotates down certain angle around the third revolute pair, so that the straight trip for completing the walking robot entirety is dynamic Make;
Step 7: going to the step 1, be ready to carry out next straight trip movement.
2. a kind of turning method of walking robot, which is characterized in that
The walking robot includes four serial-parallel mirror robot leg configurations, the serial-parallel mirror robot leg configuration packet Include silent flatform, moving platform and the serial-parallel mirror mechanism being set between the silent flatform and moving platform, four serial-parallel mirror machines People leg configuration is followed successively by the first robot leg configuration, the second robot leg configuration, third robot leg configuration and Four robot leg configurations and the surrounding for being uniformly arranged on the silent flatform form four feet walking robot;
The moving platform includes leg and foot, is connected between the leg and foot using the first revolute pair, described first turn It is provided with the first rotary driver in dynamic pair, the axis of first revolute pair is parallel with the plane where the silent flatform;
The serial-parallel mirror mechanism includes active drive branch and two relative to active drive unbranched symmetric arrangement and position Driven driving branch below the active drive branch;
The active drive branch includes the second rotary driver, first connecting rod and second connecting rod, second rotary driver It is vertically arranged at one end of the silent flatform, one end of the first connecting rod is connected to second rotation by the second revolute pair On driver, the other end of the first connecting rod is connected to one end of the second connecting rod by third revolute pair, and described second The other end of connecting rod is connected on the leg by the 4th revolute pair, is set respectively in second revolute pair and third revolute pair It is equipped with third rotary driver and the 4th rotary driver;
The driven driving branch includes that U secondary, third connecting rod and fourth link, one end of the third connecting rod pass through the U pair It is connected on the silent flatform, the other end of the third connecting rod is connected to the one of the fourth link by the 5th revolute pair End, the other end of the fourth link are connected on the leg by the 6th revolute pair;
The turning method includes:
Step 1: the first robot leg configuration and third robot leg configuration lift:
The foot of the second robot leg configuration and the 4th robot leg configuration is supporting point, keeps original position motionless, The active drive branch of the first robot leg configuration and third robot leg configuration respectively drives the first robot leg The serial-parallel mirror mechanism of portion's configuration and the serial-parallel mirror mechanism of third robot leg configuration are rotated up certain angle, thus The moving platform of the moving platform and the third robot leg configuration that drive the first robot leg configuration rises certain Highly, the lift motion of the first robot leg configuration and third robot leg configuration is completed, wherein the third turns Dynamic driver driving first connecting rod is rotated up certain angle, the 4th rotary driver driving second around second revolute pair Connecting rod is rotated up certain angle around the third revolute pair;
Step 2: the rotation of the first robot leg configuration or third robot leg configuration:
When the walking robot turns left, the third robot leg Formation keeping is motionless, first robot leg The second rotary driver driving active drive branch of portion's configuration rotates counterclockwise one around the axis of second rotary driver Fixed angle;
When the walking robot is turned right, the first robot leg Formation keeping is motionless, the third robot leg The second rotary driver driving active drive branch of portion's configuration rotates one around the axis both clockwise of second rotary driver Fixed angle;
Step 3: the first robot leg configuration and third robot leg configuration are fallen:
The active drive branch of the first robot leg configuration and third robot leg configuration respectively drives the first machine The serial-parallel mirror mechanism of people leg configuration and the serial-parallel mirror mechanism of third robot leg configuration rotate down certain angle, Thus the moving platform decline one of the moving platform and the third robot leg configuration of the first robot leg configuration is driven Fixed height completes the landing campaign of the first robot leg configuration and third robot leg configuration, wherein described the Three rotary drivers drive first connecting rod to rotate down certain angle, the driving of the 4th rotary driver around second revolute pair Second connecting rod rotates down certain angle around the third revolute pair;
Step 4: the second robot leg configuration and the 4th robot leg configuration lift:
The foot of the first robot leg configuration and third robot leg robot modeling is supporting point, keeps original position Motionless, the active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives the second machine The serial-parallel mirror mechanism of people leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration are rotated up certain angle, Thus the moving platform of the moving platform and the 4th robot leg configuration that drive the second robot leg configuration rises one Fixed height completes the lift motion of the second robot leg configuration and the 4th robot leg configuration, wherein described the Three rotary drivers drive first connecting rod to be rotated up certain angle, the driving of the 4th rotary driver around second revolute pair Second connecting rod is rotated up certain angle around the third revolute pair;
Step 5: the rotation of the second robot leg configuration or the 4th robot leg configuration:
When the walking robot turns left, the 4th robot leg Formation keeping is motionless, second robot leg The second rotary driver driving active drive branch of portion's configuration rotates counterclockwise one around the axis of second rotary driver Fixed angle;
When the walking robot is turned right, the second robot leg Formation keeping is motionless, the 4th robot leg The second rotary driver driving active drive branch of portion's configuration rotates counterclockwise one around the axis of second rotary driver Fixed angle;
Step 6: the second robot leg configuration and the 4th robot leg configuration are fallen:
The active drive branch of the second robot leg configuration and the 4th robot leg configuration respectively drives the second machine The serial-parallel mirror mechanism of people leg configuration and the serial-parallel mirror mechanism of the 4th robot leg configuration rotate down certain angle, Thus the moving platform decline one of the moving platform and the 4th robot leg configuration of the second robot leg configuration is driven Fixed height completes the landing campaign of the second robot leg configuration and the 4th robot leg configuration, wherein described the Three rotary drivers drive first connecting rod to rotate down certain angle, the driving of the 4th rotary driver around second revolute pair Second connecting rod rotates down certain angle around the third revolute pair.
3. a kind of serial-parallel mirror robot leg configuration is applied to described in straight trip method described in claim 1 or claim 2 Turning method, it is characterised in that: the axis of second revolute pair, third revolute pair and the 4th revolute pair be parallel to each other and with The rotation axis of second rotary driver is vertical, and the axis of the 5th revolute pair and the 6th revolute pair is with described second The rotation axis of rotary driver is parallel.
4. serial-parallel mirror robot leg configuration according to claim 3, which is characterized in that the silent flatform includes mutual Top bottom-disc and low bottom-disc disposed in parallel are provided with shell, second rotary driver between the top bottom-disc and low bottom-disc It is set between the top bottom-disc and low bottom-disc and is located at one end of the top bottom-disc and low bottom-disc.
5. serial-parallel mirror robot leg configuration according to claim 4, which is characterized in that the leg includes ellipse Platform and the first leg for being set to the elliptical platform lower end surface, the 4th revolute pair and the 6th revolute pair are set to institute It states on elliptical platform, the foot is included the second supporting leg being connect using first rotary driver with first leg and set It is placed in the ship type platform of second supporting leg lower end.
6. serial-parallel mirror robot leg configuration according to claim 5, which is characterized in that first rotate driving Device, the second rotary driver, third rotary driver and the 4th rotary driver are all made of servo motor.
CN201810068191.3A 2018-01-24 2018-01-24 Walking robot straight trip, turning method and its serial-parallel mirror robot leg configuration CN108423082B (en)

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